Steering apparatus



Mfitness Jan. 19 1926. 1,570,543

E. E. WINKLE Y STEERING APPARATUS Filed Sept. 28, 1920 9 Sh t -sh t 1 Jan. 19 1926.

' E. E. WINKLEY STEERING APPARATUS Filed Sept. 28, 1920 9 Sheets-Sheet Jim/e ntor Jan. 19 1926.

E. E. WINKLEY STEERING APPARATUS Filed Sept. 28, 1920 9 Sheets-Sheet 5 Jan. 19 1926.

E. E. WINKLEY STEIERQING APPARATUS Filed Sept. 28, 1920 Inventor zziz W WWYK? 9 Sheets-Sheet 4 Jan. 19 1926.

E. E. WINKLEY STEERING APPARATUS 9 Sheets-Sheet 5 Filed Sept. 28. 1920 NNN m/ z/entor 9 Sheets-Sheet 6 Inna/gator 2 I4 fiMWaA Jan. 19 1926.

E. E. WINKLEY STEERING APPARATUS Filed Sept. 28, 1920 mine 85 a -$18M Jan. 19 1926-.

E. E. WINKLEY STEERING APPARATUS Filed Sept. 28, 1920 9 Sheets-Sheet 7 4 nI/EEL/tOr MA; 6% mafia/3% mimics s Jan. 9 1926. 1,570,543

E. E. WINKLEY STEERI NG APPARATUS Filed Sept. 28, 1920 9 Sheets-Sheet 8 Jan. 19 19 26.

E. E. WIN KLEY STEERING APPARATUS Filed Sept. 28, 1920 9 Sheets-Sheet 9 Inventor M 6 W Patented J an. 19, 1926.

UNITED STATES PA-TENT OFFICE. v

ERASTUS E. WINKLEY, OF LYNN, MASSACHUSETTS.

srnnnme APPARATUS.

Application filed September 28, 1920. Serial No. 418,448.

- scription of the invention, such as will enable others skilled in the art to which it appertains to make and use the same.

The present invention relates to controlling apparatus for moving objects, and more particularly to apparatus acting automatically to gulde or steer a moving object such as a vessel, flying machine, or torpedo up-, on a predetermined course of one or more legs.

provide a novel and improved apparatus of this type which is simple in construction and certain and reliable in operation.

The features of the present invention consist in certain constructions, arrangements and combinations of parts fhereinafter de-' scribed and claimed, the advantages of which will be obvious to those skilled in the art.

The several features of the present invention will be clearly understood from the following description and accompanying drawings, in which Figure 1 is a diagrammatical plan view of a vessel having a guiding or steering apparatus applied thereto embodying the features of the invention in their preferred form; Figs. 2 and 3 are plan and side views, partly in section, of the actuating mecha- 'nism for the rudder or guiding device of the vessel; Fig. 4 is a detail side elevation of a switch forming a part of the rudder actuating mechanism; Fig. 5 is a detail sectional view taken on the line 55 of Fig. 2; Fig. 6 is a detail sectional view on an enlarged scale of a switch taken on the line 6-6 of Fig. 3; Fig. 7 is a plan view of the controlling mechanism embodying a compass for controlling the operation of the rudder actuating mechanism; Figs. 8 and 9 are side and end elevations of the portion of the apparatusillustrated in Fig. 7 Fig.

When the direction of travel of t The object of the present invention is to 10 is a sectional view taken on the line 10-10 of Fig. 7 Fig. 11 is a plan view of the course setting mechanism of the apparatus; Fig. 12 is a detail side elevation of aa part of the mechanism I switch formin illustrated in ig. 11; Fig. 13 is a rear elevation of the course setting mechanism; Fig. 14 is a sectional plan view taken on the line 14.-14 of Fig. 13.

In Fig. 1 of the drawings; an apparatus embodying the present invention is shown applied to a vessel 2 having a rudder 1. The a paratus is. adapted to operate and control the rudder to steer the vessel on a iven course of one or more legs that has een laid out on a course setting mecha nism forming a part of the apparatus.

is to be changed either to restore the vessel to the given course upon a deviation therefrom or to direct the vessel upon a new leg of its course, the rudder is turned from the neutral osition shown in Fig. 1 to the right or eft to direct the vessel to port or starboard as the case may be. The rudder is held in the position moved until the desired cha e the vessel fias been accomplished, whereupon the rudder .is returned to neutral position.

The rudder is operatively connected with a Windlass 6 by a cable 8 that passes over suitably arranged idle pulleys 10. The windlass,6 is secured to the rear end of a shaft 12 which is journaled in a casing or in the direction of travel of evessel frame 14 and forms a part of the rudder actuating mechanism. Upon rotation of the shaft 12 to the right, the rudder 4 is turned in the direction to steer the vessel to starboard and upon rotation of the shaft 12 to. the left the rudder is turned in the direction to'the shaft 12 which is engaged by a warm 22 carried by ashaft -24 .having its ends j'o'urhaled in the casing 14. A pair of oppositely disposed bevelled gears 26 and 28 are loosely mounted on theshaft 24 and are driven in op osite directions by engagement with a beve ed gear 30 carried by the driv-- ing shaft 16. When the vessel is to .be steered to starboard, the bevelled gear 26 is clutched to the shaft 24, and when the vessel is to be steered to port the bevelled gear 28; is clutched to the shaft The means the clutch member 32 to the left, the gear for clutching the gears 2.6- and 28- to the shaft 24 comprises a double clutch member 32' keyed to: the shaft 24. Upon shifting '26 is clutchedto the shaft 24 by the engagement of the clutch member with clutch pins 34 secured to the gear, and upon shifting the clutch' member 32 to the right the gear 26 is clutched to the shaft by the engagement of the clutch member with clutch pins 36 secured to the, gear. The clutch member is shifted by means of a lever 38 centrally pivotedon apin 40 secured to the frame of the apparatus. The forward end of the. lever 38 is bifurcated and is provided with studs or rolls that engage aniannular' groove in the clutch member 32, and the rear end of the lever 38 is bifurcated to engage be; itudinally movable rod 44. The rod 44 is shifted in a direction to clutch the gear 28 to the shaft.

tween ollars 42 secured to a lon 24 by the engage'ment of the inner end of a double pawl 46 with a collar 48 secured to the rod and is shifted in the opposite direction to bring the clutch member 32 .to neutral position by the engagement of the outer end I of the pawl 46'with a collar 50 secured to the. rod-44. The rod is shifted in the direction. to clutch' the bevelled gear 26 to the shaft.

, 24 by 'theeengagement of the inner end of a double pawl 52 with.a collar 54 secured to I the rod 44' andis shifted in the opposite.di,-' motion to return the clutch member 32 to neutral position by the engagement of the pivotally connected-tothe upper ends of the- -arms. The rod 64 is actuated by a cam 68 outer end of the pawl=52-witha collar 56' secured to the rod. The pawls 46 and 52 are secured to ins 58 having their ends extending-throug and pivotally mounted in apertures in the members of forked arms 60 and 62, respectively, pivotally mounted .at their lower ends. on pivot pins 63 supported by the frame. The forked arms 60 and 62 are constantly oscillated in opposite direc- I tlons to move the pawls longitudinally of the a rod 44 by means of a rod 64 having its ends secured to the driving shaft 16. The conneetion between the cam 68' and the rod 64 comprises an arm 70 having-its lower end blfurcated to operatively engage the cam and its upper end secured to a rock shaft 72 having 1ts ends mounted in the casing 14.

' iii-,wopaa An arm-74 is also secured .to the rock shaft 72'and has its lower" end connected with the rod 64-. In order to insure that the clutch' member 32 may properly engage the clutch pins carried by the gears 26 and 28 when the clutch member is shifted in either direction, the arm 74 is yieldingly connected to the rod 64. To this end the lower end of the arm 74 is bifurcated to engage between 001- A lars 76 which are yieldinglyurged toward the end of the arm 74 .by means of springs '78 coiled about the rod and interposedbetween the collars 76 and nuts 80 threaded on the rod, the movementv of the collars by the.

'action of the springs being limited by pin-' between the collars and the next inward movement of the oscillating,

arm 60, the pawl 46 will act through the collar 48 to move the rod 44 in the direction to clutch the gear 28 to the shaft 24. Likewise, to turn the rudder in the direction to steerL-TthWessel vto starboard, the pawl 52 is turned in the direction tobring its inner.

endf-into position to engage the collar 54; The pawls 46 and 52 are thus positioned to swing the vessel to starboard and port by means of electro-magnets 82 and 84 mounted magnets act. on armatures 86 and 87 formed on theiends of arm secured to the pivot pins-carrying the pawls 46 and 52, respectively. -The electroemagnets are Included in independent circuits with controlling devices hereinafter described. Upon a circuit being closed by the controlling devices, the electro-magnet includedin-thecircuit acts to position the associated pawl to turn the rudder. When the rudder has been turned a fixed distance to starboard or port according to which magnet is included in the cir;

on brackets secured to the casing 14,- which out, the circuit is opened to permit the pawl to be turned by gravity to 1ts normal posi-,

tion to shift the clutch member to neutral 1 position, the rudder being held in the position moved by the worm wheel and worm connection-20,22. The circuits are opened controlling the electro-magnets 82 and 84, respectively. The switches 90 and 92 each comprises a movable switoh member 94' and a stationary switch member 96. The movable switch mcmber 94 comprises a disk secured to the shaft 12 and is provided-with a raisedperipheral contact portion 98. The

at this time by means of switches 90 and 92 stationary switch member 96 comprises an arm loosely mounted on the shaft 12 and held in fixed position by being secured at its upper end to a bracket 100 secured to the casing 14. A contact pin 102 is mounted to slide in an insulated bushing in the lower end of the arm, the inner end of which pin is adapted to engage the contact portion of the movable switch member 94 and is urged toward the movable switch member by means of a leaf spring 104 secured to the arm and engaging the outer end of the in, the movement of the pin by the spring being limited, when the pin is out of engagement with the contact portion of the movable member, by means of a head formed on the outer end of the pin engaging the outer end of the insulated bushing.

It will be apparent from an inspection of the drawings, that upon rotation of the shaft 12 to the right, viewing Fig. 3, the rudder is turned in the direction to swing the vessel to starboard, and upon rotation of the shaft to the left, the rudder is turned in the direction to swing the vessel to port.

During the rotation of the shaft 12 to the right the switch 90 is closed by the engagement of the contact pin 102 thereof with the contact portion 98 of the movable switch member, but when the rudder has been turned a certain fixed distance the rear end of the contact portion 98 passes the pin 102 thereby opening the circuit that includes the switch 90 and the electrc-magnet 82. During the rotation of the shaft 12 to the left the switch 92 is closed by the engagement of the contact pin 102 thereof with the contact portion 98, but when the rudder has been turned a fixed distance to the left, the rear end of the contact portion 98 passes the pin 102, thereby openin the circuit that includes the switch 9.2 and t e electro-magnet 84.

The illustrated apparatus has provision for varying the'distance that the rudder is turned to the right or left from neutral position. To this end the stationary members- To return the rudder to neutral position. from its fixed angular position to the right or left when the change in direction of travel of the vessel has "been completed, the controlling devices act to close a circuit including the proper magnet 82 or 84 that is adapted to movethe rudder in this direction. The movement of the rudder is stopped tion by a switch 108 acting to open the circuit.. .This switch comprises a movable member 110 and a stationary member 112 (see Fig. 4). The movable member comprises a drum secured to the forward end of the shaft 12 having contact plates 114 and 116 secured to the periphery thereof, the ends of which plates are separated and the plates are insulated from each other. The stationary member. 112 comprises a spring contact secured to and insulated from the casing 14 and having its free end arranged to engage the periphery of the movable member 110. The contact plate 114 of the movable member is, in circuit with the electro-magnet 82 and the contact plate 116 is in circuit with the electro-magnet 84. When the rudder is in neutral position the shaft 12 will be in such angular position that the stationary switch member 112 will engage between the ends of the plates 114 and 116 and the switch will be open. Vhen, however, the rudder is out of neutral position the stationary switch member will be in engagement with one or the other of the plates 114 and 116 according to whether the rudder is to the left or right of its neutral position. With this construction, when the rudder is out of neutral position and the clrcuit including the stationary switch member and the contactplate with which it is in contact is closed by the controlling device, the'proper electro-magnet 82 or 84 will act to return the rudder to neutral position, and when the rudder has reached neutral position, the circuit will be opened by the contact plate disengaging from the stationary' switch member.

From the foregoing it will be apparent that the electro-magnets 82 and 84 are alternately energized; first to swing the rudder from neutral position to a fixed angular position to the right or left to change the direction of travel of the vessel, and when'the change in direction of travel of the vessel has been completed, the other magnet is energized to restore the rudder to neutral position. The closing of the circuits of the electro-magnets is effected by the controlling devices of the apparatus presently to. be described, while the opening of the circuits is accomplished by the switches 90 and 92 to limit the movement of the rudder from neutral position to a fixed position to the right or left, and the circuits are opened by the switch 108 upon restoring the "rudder to neutral position. i

The circuit including the magifet 82 and the switch 90 comprises a battery 117 having one terminal connected with the controlling devices of the apparatus and its other terminal connected by a wire 118 with a contact brush 119 engaging the shaft 12, the brush being connected by the shaft with when the rudder reaches its neutral posithe movable member ,94 of the switch 90.

switch 92 includes the described batteryv connection with the shaft 12 which is connected by the shaft to the movable switch member of the'switch 92. The contact pin 102 of the stationary member of the switch 92 is connected by the contact s ring 104 and a ,Wire 122 with one pole of the electro-mags net 84, the other pole of the electro-magnet being connected by a wire 123 that leads to the controlling devices. I

The circuit including the electro-magnet 82 and the switch 108 comprises the battery connection with the shaft 12, the switch 90, the wire 20, the wire 121, and a branch wire 124 eading from the wire 121 to a contact brush 125 engaging the contact plate 114 of the switch 108, the stationary member 112 of the switch being connected by a wire 126 with the controlling devices.

The circuit of the electro-magnet 84 and the switch 108 includes the battery connection with the shaft 12, the switch 92, the wire 122 connecting the switch with one pole of the electro-magnet 84, the wire 123, and a branch wire 127 connected to a stationary contact brush 128 that engages the contact plate 116 of the switch 108".

' The illustrated mechanism for restoring the vessel to the predetermined course upon deviation therefrom due to an exterior force, such as Winds, currents or tides, comprises a compass and mechanism controlled 'by the' compass (Figs. 7; 8, 9 and 10). The compass comprises a compass card 129 centrally pivoted on a post 130 secured to the com- .pass bowl 131. The compass bowl is pivotally mounted by means. of gimbal pins 132 and 134 projecting therefrom which extend through a ertures in a gimbal ring 136 and are pivota ly mounted in'sliding sleeves 138. The mounting for the gimbal rlng 136 comprises elongated gimbal pins 140 and 14). pivotally mounted at their ends onvthe ends of screws secured to a compass box' 144. A

- gage '146 is carried by the compass card having peripheral portions that are intermittently engaged by a continually reciprocating feeler 148 that is moved about the gage and compass card with the compass box and vessel. As illustrated in the drawings, the gage has three peripheral feeling portions 150, 152 and 154. With this construction it will be apparent from an inspection of Fig. 7 that upon deviation of the vessel to starboard of its course the feeler 148 will be positioned to engage the portion 1540f the gage; u on deviation of the ves-.

iselto portthe fee er will be'positioned to engage the portion 150; and upon the vessel being restored to its predetermined course, the feeler will be positioned to engage the portion 152. The connection between the feeler and the rudder actuating mechanism is such that upon engagement of the feeler 148 with the portion 154 of the gage, the rudder will be turned in a direction to swing the vessel to port and u on en a bracket secured to the gimbal ring 136.

The end of one arm of the bell crank engages between collars formed on the sleeve 138 and the end of the other arm of the bell crank engages between collars formed on a sleeve 160 mounted to slide on the gimbal pin 140' of the gimbal ring. The upper end of a lever 162 also engages between the collars on the sleeve 160, which lever is pivoted at 164 on a .post projecting upwardly from the bottom of the compass box. The lever 162 is turned in a direction to move the feeler into enga ent with the gage146 by means of adlgh spring 166 connected with the lower arm of the lever,

and the lever is turned in the opposite direction to retract the feeler from the gage by means of a continuously rotating cam 168'that acts on a cam roll on the lower end of the lever. The cam is carried by a shaft 170 having. its ends journaled in'bearmgs in the end walls of the compass box. The shaft 170 is driven by a large gear 172 secured thereto which meshes with a pinion 174 secured to a counter shaft 176 journaled in bearings in the compass. box. The shaft 176 extends th'roughthelforward end wall of the compass box and is driven by a vertical shaft 178 j ournaled in bearings beneath. the compass box. The connection between the counter shaft 17 6 and the shaft 17 8 comprises a belt 180 that passes over pulleys 182 secured to the shaft, the belt being guided by the stretches of the belts passing over idle pulleys 186 loosely mounted on a stud shaft 188 supported by brackets prejecting from the compass box.

In order to prevent relative rotary movefeeler. This means consists of acompass card gripping device 190 comprising a pair of levers 192 pivoted on a boss rojecting from the compass bowl, from whic boss the gimbal pin 134 extends. Gripping jaws are formed on the inner ends of the levers 192 and are arranged at opposite sides of the compass card. The gripping jaws are actuated at the proper time to engage the card by means of the sleeve 138 through which'the gimbal pin 134 extends. The sleeve 138 is reciprocated on the pin 134 and during the outward movement of the sleeve 138, a collar 194 formed on the inner end of the sleeve engages inwardly extending cam surfaces formed on the outer ends of the levers 192 to turn the levers in a direction to cause their gripping jaws to firmly engage the card. During the inward movement of the sleeve 138, the collar 194 permits the levers to be turned in the di rection to open the jaws by means of a U- shaped wire s ring 196 connecting the rear ends of the gripping levers 192. The sleeve 138 is thus reciprocated by means of a bell crank 198 pivoted at 200 on a bracket secured to the gimbal ring 136. The end of one arm of the bell crank 198 engages between collars formed on the sleeve 138, and the end of the other arm of the bell crank engages between collars 202 formed on a sleeve 204 mounted to slide on the gimbal pin 142. The upper end of a lever 206 also engages between the collars 202 on the sleeve 204, which lever is pivoted at 208 on an upright post projecting from the bottom of the compass box. The lever 206 is turned in the direction to move the sleeve 138 outwardly to cause the compass card to be locked by means of a coiled spring 212 connected with the lower arm of the lever. The lever 206 is turned in the opposite direction to release the compass card by means of a cam 210 carried by the continuously rotating shaft 170 which cam engages a cam roll at the lower end of the lever 206.

The connection between the gage feeler and the rudder actuating mechanism comprises a switch 213 which consists of a movable switch member 214 and three stationary contacts. The movable member 214 comprises a spring arm that is secured to and insulated from one arm of a lever 222.

'The spring arm is electrically connected by a pivotal connection 224 with a binding post 226 secured to the rear wall of the compass box. The movable switch member 214 is connected through the post 226, the battery 117 and the wire 118 w th the contact brush 119 that engages the Windlass and switch carrying shaft 12. The contacts 216, 218 and 220 comprise upstanding metal strips, the lower ends of which are secured to and insulated from a bracket 230 projecting from the rear wall of the compass box. The

216, the magnet 82 will be energized'to turn the rudder in a direction to swing the vessel to starboard. When the switch member 214 is moved into engagement with the contact 218, the rudder. will be returned from starboard to neutral position, the contact 218- being in circuit with the contact plate 116 of the rudder restoring switch 108, through the wire 126 and stationary switch member 112. Upon moving the switch member 214 into engagement with the contact 220, the rudder will be turned in the direction to swing the vessel to port, the contact 220 being connected by the wire 123 with the electro-magnet 84. Upon returning the switch member 214 into engagement with the contact 218, the rudder will be restored-to its neutral position, the contact 218 then being in circuit. with the contact plate 114 of the switch 108 through the wires 126 and stationary switch member 112.

A locking device 232 is provided for clamping the movable switch member 214 down upon a stationary contact of the switch 213 when the movable switch member is positioned over .a. stationary contact. This locking device comprises a plate 234 extending over the extreme inner end of the movable contact arm, which plate is secured to the upper end of a vertical rod 236 extending through a bearing on the bracket 230. The plate 234, is urged downwardly to clamp the movable switch member 214 on a stationary contact by means of a spring 238 coiled about the rod and interposed'between the underside of the bracket 230 and 'a collar 240 secured to the rod. The rod and has an arm 250 secured to its nner end, ,whlcharm carries a cam roll that engages the cam 242.

The movement of the movable switch member 214 into engagement with the stationary contacts of the switch to control the operation of the rudder actuating mechanism is in turn controlled by the gage feeler 148. The connection between'the movable switch member 214 and the feeler 148, comprises a link 252 connecting the outer end of the lever 222 that carries the switch member 214 with the outer end of a lever 254 pivoted on a po t projecting upwardly from the bottom of the compass box, and the With this construction,

' engaged by a collar 256 formed on the slid contact .218 o 258 to one side of the contacts.

ing sleeve 160.

In Fig. 7 the movable switch member 214 is shown clam ed down upon the stationary f the switch. At the start of a feelin movement of the feeler 148, the locking device 232 releases the switch member 214 allowing the lever 254 to be turned by a coiled spring 258 connected with the lower arm of the lever, in the direction to cause the upper end of the lever to move into engagement with the collar 256, which through the link 252 moves the switch member 214 inwardly to a position insideof the stationary contacts substantially as illustrated by dotted lines in Fig. 7. As the gage feeler moves inwardly toward the gage. the slide 160 is moved outwardly carrying the free end of the lever 254 therewith which moves the switch member 214 to a position over one or another of the stationary contacts. of the switch whereupon the locking device 232 acts to clamp the switch member 214 down upon the contact over which it is positioned. If the feeler engages the portion 150 of the gage, the switch membar 214 will be positioned over the stationary contact 216 and the rudder will be turned to swing the vessel to starboard; if the gage feeler engages the portion 152 of the gage the switch member 214willbe positioned over the contact 218 and the rudder will be restored to neutral position; and if the gage feeler engages the portion 154 of the gage the switch member 214 will be positioned over the stationary contact 220 and the vessel will be swung to port. It will. be understood from the foregoing description that at the limit of the feeling movement of the gage feeler, the switch member 214 Wlll be positioned over one. of the contacts and the locking device 234 willbe actuated to clamp the switch member down upon the stationary contact, and just before the start of the feeling movement of the feeler, the clamping device will release theswitch member, allowing it to be swung by the spring It will be obvious from the foregoing that if the compassbox is turned about the compass and relatively to the vessel that the direction of travel of the. vessel will be changed in accordance with the direction that the compass box is turned and to the extent that the compass box is turned. For example, viewing Fig. 7, if the compass box is turned to a position to the left, the gage Eeeler will engage the rtion 150 of the gage, whereupon the rud er actuating mechanism will act to turn the rudder in the dious mot on to swing the vessel to starboard until the direction of travel of the vessel has changed sufliciently to bring the gage feeler into position to engage theportlon 152 of pass box is turned to, a position to the right,

viewing Fig. 7, the gage "feeler will engtge the ortion 154 of the gage, whereupon e rud er actuating mechanism will act to turn the rudder to swing the vessel to port. The amount of change 1n the direction of travel of the vessel will obviously be in accordance with the amount that the an of the compass box is change the vessel.

r positionrelatively to The compass box in the illustrated apparatus' is mounted for rotary movement through a. limited distance about the compass card and relatively to th vessel, and

. mechanism is provided for thus c anging the position of the compass box, which mechanism is controlled by a course setting device hereinafter desc'riberL' The compass box is securely mounted upon a table 264 that is mounted on a ball-bearing 266 supported by a-cylindrical stationary base 268. [11 order that the turning ofthe compass box will not interfere with theelectrical connections between the switching device 213 and the rudder actuating mechanisms, the

electrical connections are made through contact brushes 269'mounted on the turn table 264 and insulated therefrom, that en age ring contacts 270 mounted on the perip ery of the base 268 and insulated therefrom.

The mechanism for turning the compass box to change the angular position thereof acts on a 'ratchet wheel 282 secured to the frame 278 (Figs. 11 to 14 inclusive). The r shaft 276. The shaft 276 is adapted to be 1 turned in the direction to turnthe compass box to the left by means of a pawl 284 that acts on a ratchet wheel 286 secured to the shaft 276. The pawls 280 and 284 are pivotally mounted on a pin 288 fixed in the end of an arm 290 loosely (mounted on the shaft 276. The awls 280 and 284 are normally held out o engagement with their respective ratchet wheels by means. of a torsion ring 292 coiled about the upper end of the plvot pin 288 and secured thereto,-:the ends ofthe spring being secured in apertures in the ends-of the pawls. The pawlcarrying arm 290 is oscillated by means of a continul rotating shaft-.294. journaled in vertica bearings-in the frame 278." The shaft 294 is driven by a horizontal shaft. 296

through bevelled. ends of the shaft and the shaft is driven gears 298 secured to the .by the driving shaft of the apparatus through connections hereinafter I described.

The connection between the pawl carrying oscillating arm 290-and the shaft 294, comprises a link 300 connecting the pivot pin 288 with one end of a lever 302 pivoted on the upper end of a pin-304 mounted in the frame 278. The other arm of the lever 302 is provided with a stud that engages between sliding collars 306 mounted on a pin 308 that'is mounted in the forked end of one arm of a bell crank lever 310. The col- 'lars 306 are urged inwardly against the stud on the lever 302 by means of springs 312 coiled about the pin 308and interposed be-- tween the collars and the members of the crank 310. is pivoted on the, pin 304, and its other arm is bifurcated to oper'atively engage a cam 314 carried by the continuously rotating shaft 294. With this construction it will be apparent that the'pawl carrying arm 290 is adapted to be oscillated once during each rotation of the shaft 294- and the movement imparted to the arm 290 will be yielding due to the yielding'connection between the lever 302 and the bell crank 310 The pawls 280 and 284 are independently moved into operative engagement with their respective ratchet wheels by means of elec connection between the electro-magnets and the pawls comprises an armature 320 pivoted on the pin 288 between the pawls and connected to the pawls by the ends of the spring 292 extending through slots 322 in o' positely extending arms of the armature. T e armature 320 is held in the central position shown in Fig. 14 by the engagement of the ends of the springs with the right hand end walls of the slots 322. Upon energizing the electro-magnet 316 the armature is turned in a direction to carry the pawl 280 into engagement with its ratchet wheel 282 which acts to turn the shaft 276 in the direction .to

cause the vessel to be swung to starboard,

' armature 320 will be turned in the direction tion of the compass box with relation to the.

vessel efl'ects changes in the direction of travel of the vessel at the proper times to cause the vessel to traverse a predetermined course that has previously been laid out on the course setting device. The course setting mechanism comprisesv three chart disks 326, 328 and 330 located above the top of the frame 278. The chart disk 326 forms the top of a drum 332 carried by the upper end of a vertical shaft 334 extending through the top of the frame 278 and journaled in bearingsin the frame. The shaft 334 is continuously driven by the shaft 294 through speed reducing gears comprising a worm wheel 336 secured to the shaft 334 that engages a worm 338 carried by a horizontal shaft 340 having-its ends journaled in the vertical sides of the frame 278. A worm wheel 342 is secured to the shaft 340 that gengages a worm 344 carrled by the driving shaft 294.

The disk 328 forms the top of a drum 346 loosely mounted on the upper end of the pawl and ratchet driven shaft 276. The disk- 330 forms the top of a drum 347 loose 1y mounted on the upper end of a vertical shaft 348 journaled in bearings in the frame. Upon rotation of the shaft 276 the-shaft 348 is rotated simultaneously in the same direction, the shaft 348 being connected to the shaft 276 by gears 350 and 352 secured to the shafts 276 and 348 respectively, which gears are connected by a pinion 354 loosely mounted on the upper end of a stud shaft 356 supported by the frame. Upon rotation of the shaft 27 6 to the left to swing the vessel to starboard, the disk 328 is rotated with the shaft, and upon rotation of the shaft 276 to the right to swing the vessel to port the disk 328 is held stationary, while the disk 330 is rotated in the same direction as the shaft 276. The rotation of the disk 328 when the shaft 276 is turned tothe left is accomplished by means of a spring pressed pawl 358 mounted on a flange on the upper end of a sleeve 360 carried by the shaft 27 6, which pawl engages a ratchet wheel 362 secured to. the underside of the disk carrying drum 346. The connection between the disk i330 and the shaft 348 comprises-a spring pressed pawl 364mounted on a flange on the upper end of a sleeve 366 secured to the shaft 348, which pawl engages a ratchet wheel 368 securedto the underside of the drum 347that vmirries the disk 330. With this constriition it will be apparent that during the rotation of the shaft 276 to the left the pawl 358 will act to turn the disk 328 to the left while no movement will be imparted to the disk 330. During the rotation of the shaft 276 to the right the pawl 364 will act to turn the disk 330 to the right but no movement will be imparted to the disk 328. In order that one of the disks shall be held stationary against the drag of its pawl over the teeth of the ratchet wheel while the other disk is being rotated, a friction traking device is provided that tends to hold the disks stationary. This braking device comprises a pair of straps 370 which engage the peripheries of the disk carrying drums 346 and-347. The straps 370 at one end are secured to a post 372 projecting from the top-of-the frame 27 8 and the other ends I of the straps are connected by a coiled spring pins 380 and. 382,,respectively.

V The 'chart'disk 326 is provided with two series of equally spaced apertures 376 and 378 which are adapted to receive contact T e disk 326-and a pair of switch members 384 and 386 constitute a switch for opening and closing the circuits of the 'electro-magnets 316 and 318. The switch members 384 and 386 comprise levers pivotally mounted on a pin 388 that connects the upper ends of a pair of posts 390 mounted on the top of the frame 7 278. The levers are. turned in thedirection to urge their inner" ends downwardly by.

means of springs 392 secured to the posts 390 and engaging the undersides'of the outer ends of the levers. The switch members 384 of the disk, a wire 406, the battery 117 and, awire 408' which is branched to the magnets. With this construction, it be apparent I from .an inspection. of the that upon cngagementof one of'the pins" Qwith and 386 are provided with contacts 394 and 396 in the form of a wire which are con- -.nected through spring contact brushes 3.98 and wires 400. and 402 to one pole of the -magncts 318 and 316, respectively. The

disk 326 isconnected with the. other pole of the ma comprising a spring post secured to the top of the frame 278 and engaging the periphery thecontact of the switch member 384 urlng the rotation of the disk 326, that-thecir- -cuit of'the electro-magnet 318jvill. be closed, whereupon the compasshox will be turned in the direction to swing the vessel to starboard; and upon the pin 380 passing out of i enga ment with thecontact of the switch mem er .384 the circuit .a will be opened.

LUpon engagement of one-ofthepins 382 with the contact of. theswiteh member 386 the circuit of the .electrmmagnet 316 switch member closed, whereupon the: compass box will spacing thepins 380 and 382 abou t the t turned the direction to cause the vessel to swing to .port until the circuit is opened bv the pin 382'passing the'contact of the Assuming thatthe distance the aperturesof each-series in the disk 326 indicate intervals of timeof one minute duration, it apparent thatfby atthecompass box and hence thevessel may be to starboard or to or port upon engagement of the pins by the 326: with the 'switehmeinbers 384 and is controlled-byth'e gnets through a contact brush 404,;

rt ati v any-desired tuner The number "of egreesf that the'compass boxis swlmgto starboard and 330, the disk328 as above described being connected to rotate with the shaft 276 during the rotation of the shaft in the direction to swing thevessel to starboard and the disk 330 being connected to rotate with the shaft 276 during the rotation of the shaft in the direction to swing the vessel,

to port. To this end, the disks 328 and 330, are each provided with a series of apertures 410 adapted to receive pins 412 and 414,

respectively: During the rotation ofthe;

disks 328 and 330 the pins carried thereby are adapted to be brought into engagement turning of the compass box, the yielding connection between the bell crank 310 and the lever 302 through which the shaft 27 6 is actuated permitting the bell crank to-con tinue to oscillate without actuating the pawls 280 and 284. After the circuit .of a magnet 316 or 318 has been broken, the stop arm is retracted from engagement with the.

stop pin and is thenre-positioned so as to be engaged by thenext stop pin that; is carried by the disk 326 during the succeeding rotation of the disk.

that upon engagement of oneof the contact pins carried by disk 326 with the contact on one of the switch members 384 and 386, the circuit including one of the electro-magnets 316 and the continuously rotating- From the foregoing, it be apparent 318 will be closed, whereupon the compassbox will be turned in a direction to cause the vesselto be swung to port or starboard dependent F upon i which electro-magnet is energized by the. closing of the circuit. The compass direction until theirotation of the shaft' 276 is stopped by a stop pincarried by one of the disks 328 and 330' being brought into engagement with its associated stop arm-416 and 418. In order to insure that the shaft .276 will continue to rotate until stoppedby stop pin carried by one of thedisks 328.. and-33,0, the relative timing of the rotation.

of the circuit controlling disk 326 and shaft 276 is such that a circuit ineluding'an jelectro-magnet 316 or 318 is held closed by tactswlth its-associated switch member" afimtact pin carried by the disk riding in co box will continueito turn in'this 380 or 386 until the shaft 276 would, if'not by one of the stop-disks'328 andv 330, make substantially acomplete revolution. 7

controlled 7 mechanism,

To enable the stop arm 416 to be operated in the manner above described, the arm is pivotally mounted on one arm of a bell crank 424 pivoted on one of the brackets 422 and the other arm of the bell crank is connected by a link 426 with a lever 428. The

lever 428 is urged in a direction to position a cam lug formed on its free end 1nto the path of pins 430 inserted in one or more of a series of apertures 432 in the disk 326, by means of a coiled spring 433 connected with the lever. Upon engagement of one of the pins 430 with the end of the lever 428, the stop arm 416 is retracted out of engagement with the adjacent stop pin on the disk 328 and a leaf-spring 434 engagin the free end of the arm presses the arm back against the other stop pin 420. When the pin 430 has passed by the end of the arm 428, the spring 433 acts to turn the lever 428 in the direction to again move the stop arm 416 into the path of the pins carried by the disk 328 and a bevelled surface on the end of the arm causes the arm to ride behind the stop pin'so that the arm will be in position to be engaged by a second stop pin during the next rotation of the disk.

The stop arm 418 is pivotally connected at its rear end to a bell crank 436 pivoted on the bracket 422. The other arm of the bell crank is connected by a link 438 with one arm of a lever 440, the other arm of which lever is connected by a link 442 with one arm of a bell crank 444 pivoted on the top of the frame. A cam lug is formed on the end of the other arm of the bell crank 444 and is held in the path of ins 446 inserted in one or more of a series of apertures 448 in a flange 449 formed on the underside of the drum 332 carrying the disk 326, by a spring 450 connected with the lever 440. Upon engagement of a pin 446 with the end of the bell crank 444, the stop arm 418 is retracted, and upon disengagement of the pin from the bell crank the spring 450 acts to return the stop arm into position to the rear of the stop pin car ried by the disk 330.

It will be understood from the foregoing, that by properly arranging the contact pins on the disk 326, stop pins on the disks 328 and 330, and stop arm controlling pins on the disk 326 and the flange 449, that the apparatus may be set to cause the vessel to travel a given course of several legs and that should the vessel be swerved from the given course by winds, currents, tides or other forces, thecompass controlled mechanismwould immediately act to restore the vessel to the course.

The driving shafts 296 and 178 of the course setting mechanism and the compass respectively, are driven by the driving shaft 16 of the rudder actuating-mechanism. The connection between the shafts 16and 296 comprises a belt 452 (Fig. 1) that passes over pulleys secured to the shafts and suitably arranged guide pulleys 454. The connection between the shafts l6 and 178 comprises a belt 456 passingvover pulleys secured to the shafts 178 and 296 and suitably arranged. guide pulleys 458.

\Vhile the features described herein are well adapted for use in a steering apparatus, it is to be understood that, except as defined in the claims, certain features of the present invention are not limited to use in an apparatus of this type.

The nature and scope of the present invention having been indicated and an apparatus embodying the several features of the invention in their preferred form having been specifically described, What is claimed is:

1. A controlling apparatus for a moving object having, in combination, a guiding device movable relatively to the object in opposite directions from normal position to change the direction of travel of the object, mechanism acting when thrown into operation to move the guiding device relatively to the object, to maintain the guiding device in the position moved until the direction of travel of the object has been changed a predetermined amount and to then return the guidingdevice to it's normal position and means acting automatically to throw said mechanism into operation and to throw said mechanism out of operation when the guiding device has been returned to normal position.

2. An apparatus for maintaining a moving object on a given course having, in combination, a gulding device movable relativelyto the moving object in opposite directions from normal position to change the direction of travel of the object, mechanism acting to move the guiding device to a predetermined position relatively to the object upon deviation of the object from the course, to maintain the guiding device in this po sition until the object has been restored substantially to the course, and to then return the guiding device to its normal position, and means acting automatically to throw said mechanism out of operation when the guiding device has been returned to normal position.

3. An apparatus for maintaining a moving object on a given course having, in combination, a guiding device movable relation moved until the object has been restored substantially to the course, and to then return the guiding device to its normal position, and means acting automatically to throw said mechanismout of operation when the guiding device has been returned to normal position.

f1. A'controlling apparatus for moving objects having, in combination, a guiding device movable relatively to the moving object in opposite directions from normal position to change the direction of travel of the object, a course setting means, mechanism controlled by the course setting means acting when thrown into operation to move the guiding device relatively to the object at a predetermined point in the travel of the object, to maintain the guiding device in the position moved until the direction of travel of the object has been changed a predetermined amount, and to then return the guiding device to its normal position, and means acting automatically .to throw said mechanism out of operation when the guiding device has been returned to normal position.

5. An apparatus for maintainingamoving object in a predetermined angular position having, in combination, a guiding device movable relatively to the moving object in opposite directions from normal osition to change the angular position of t e moving object, mechanism acting to move the guiding device relatively to the object upon deviation of the object from its predetermined angular position, to maintain the guiding device in the position moved until the object has been substantially restored to the predetermined angular position, and 'to then return the guiding device to its normal position, and means acting automatically to throw said mechanism out of operation when the guiding device has been returned to normal position.

6. A controlling apparatus for a moving object having, in combination, a guiding de= vice movable relativel to the object to change the direction 0 travel of the object, a compass, a compass box, means for turning the compass box to the right and to the left to change the angular osition of the compass boxrelatively to t e object, and connections between the guiding device and the compass box for moving the guiding device relatively to the object upon a change in the angular position of the compass box in either direction relatively to the object.

7'. A controlling apparatus for a moving object having, in combination, a guiding device movable relatively to the object to change the direction of travel of the object, a compass, a compass box-, .mea ns for turning the compass box to the right and to the left to change the angular position of the compass box relatively to the object, and electrically controlled connections between the guiding device and the compass box for moving the guiding device relatively to the object upon a change in the angular position of the box in either direction relatively to the object.

8. A controlling apparatus for a moving object having, in combination, a guiding device movable relatively to the object to change the direction oftravel of the object, a compass, a compass box, connections between the guiding device and compass box to move the guiding device relatively to the object upon a change in the angular position of the compass box relativel object, and means for changing t e angular position of the compass box relatively to the object to cause'the object to travel a predetermined course consisting of a plurality of legs, one or more of which extend to the right and one or more of which extend to the left of the preceding leg.

9. A controlling device for a moving object having, in combination, a guiding device, and automatically controlledmeans for alternately turning the guiding device in opposite directions at predetermined times comprising a shaft, connections between the shaft and the guiding device, means for rotating the shaft comprising a pair 'of electro-magnets, one of which when energized effects the rotation of the shaft in one direction, and the other one when energized effects the rotation of the shaft in the opposite direction, and means for energizing and de-ener izing the magnets.

10. A controfi ing apparatus for .a moving object having, in combination, a guiding to the device, means for alternately turning the guiding device in opposite directions comprising a shaft, connections between the shaft and guiding device, a pair of driving members rotated in opposite directions, a clutching device for alternately connectin and diseonecting the driving members an shaft and means acting automatically at predetermined times to actuate theclutching device. 4

11. A controlling apparatus for a moving object having, in combination, a guiding device, a driving mechanism for turning the guiding device in opposite directions, andmeans for automatically controlling the operation of the driving mechanism, comprising a constantly reciprocating rod, a pair of pawls carried by the rod, one of the pawls adapted to be connected to the driving mechanism to adjust the mechanism to turn the guidingdevice in one direction and the other pawl adapted to be connectedto the driving mechanism to adjust the mechanism to turn the guiding device in the opposite direction, and automatically controlled means for independently connecting and disconnecting the pawls and driving mechanism.

12. A'controlling apparatus for a moving object having, in combination, a guiding device movable relatively to the object to change the direction'of travel of the ob ect, a compass, a compass box, a gage device mounted to swing with the compass, a feeler cooperating therewith," means controlled by the feeler for actuating the gulding device to restore the object to its course upon a deviation therefrom, and means for moving the compass box relatively to the object.

13. A controlling apparatus for a moving object having, in com ination, a guiding device movable relatively to the object to change the direction of travel of the object, an arm adapted to be moved to at least three definite positions, a compass, power operated means controlled by the compass for moving the armfrom one position to another upon deviation of the object from the course, and connections between the arm and guiding device to move the guiding device to a definite position dependent upon the position of the arm and for holding the guiding device'in the position moved until the object has been restored to its course.

14. A controlling device for a moving object having, in combination, a rudder, an arm adapted to be moved to at least three definite positions, connections between the arm and rudder to move the rudder to neutral position when the arm is in its intermediate position and to move the rudder to starboard and port when the arm is in the other positions respectively, and power operated means controlled by the compass for automatically moving the arm from one to another position to maintain the object on a given course.

15. A controlling apparatus for a moving object having, in combination, a rudder, a compass, connections between the compass and rudder for controlling the position of the rudder, a compass box, two movable members, connections between the compass box and the movable members to turn the box in one direction upon movement ofone of the members, and in the'oppositedirection uponmovement of the other member, and means for actuating and controlling the movable members to cause the object to traverse a given course.

16. A controlling apparatus for a moving object having, in combination, a rudder, a compass, connections between the compass and rudder for controlling the position of the rudder, a compass box, two movable members, connections between the compass box and the movable members to turn the box in one direction upon ,movement of one of the members and in the opposite direction upon movement of the other members, a continuously rotating member, and means cooperating therewith for actuating and controlling the movable members to cause the object to traverse a given course.

17. A controlling apparatus for a moving object having, in combination, a rudder, a compass, connections between the compass and rudder for controlling the position of the rudder, a compass box, two intermittent: ly movable members, connections between the compass box and the movable members to turn the box in one direction upon movement of one of the members, and in the opposite direction upon movement of the other member, two electro-magnets, means controlled by the electro-magnets for actuating.

ble members to turn the compass box in one direction upon movement of one of the members, and in the opposite direction upon movement of the other member, and means for actuating and controlling the movable members to cause the object to traverse a given course.

19. A controlling apparatus for a moving object having, in combination, a guiding device movable relatively to the object to change the direction of travel of the object,

a compass, a compass box, mechanism for turning the compass box to the right and to the left to change the angular position'ofv the compassbox relatively to the object, connections between the compass box and the guiding device for moving the guiding device relatively to the object during the turning movement of the compass box, and a. course setting mechanism comprising means for controlling the operation of the mechanism for turning the compass box to cause the compass box to be turned in one direction or the other at a predetermined time in the, travel of the object, and means for stopping the turning movement of the compass box when it has reached 'a predetermined angular position in relation to the object.

20. A controlling mechanism for amoving object having, in combination, a guiding dev1ce, a source of power, actuating mechanism therefrom acting when thrown into operation to move the guiding device independently of the movement of the object, and controlling devices acting automatically upon displacement of the object from normal position, to cause the actuating mechanism to move the uiding device in a direction to restore the object, and to return the guiding 

